Research on global localization algorithm for mobile robots based on the fusion of vision and laser

Yuxuan Zhao; Jianfeng Wang; Kai Zhang; Jianning Gong

doi:10.1117/12.2684684

21 July 2023 Research on global localization algorithm for mobile robots based on the fusion of vision and laser

Yuxuan Zhao, Jianfeng Wang, Kai Zhang, Jianning Gong

Proceedings Volume 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023); 127171B (2023) https://doi.org/10.1117/12.2684684
Event: 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 2023, Wuhan, China

Abstract

To address the issue of unknown initial position and lost localization for mobile robots, this paper proposed a global localization algorithm based on the fusion of vision and laser. In the mapping stage, a feature point map and a laser grid map are established respectively based on visual SLAM and laser SLAM. In global localization stage, the bag-of-words model is used for quick visual localization. Priori localization information in the grid map is obtained through aligning the maps. Precise localization is achieved using an adaptive Monte Carlo localization (AMCL) algorithm, realizing fast and accurate global localization for mobile robots.

Citation Download Citation

Yuxuan Zhao, Jianfeng Wang, Kai Zhang, and Jianning Gong "Research on global localization algorithm for mobile robots based on the fusion of vision and laser", Proc. SPIE 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 127171B (21 July 2023); https://doi.org/10.1117/12.2684684

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